Grasping with tools in grasp\(\rightarrow \) grasp is more complex due to the use of 2 arms. The action is still represented by 3 values, but orientation is constrained by half so that the arms cannot cross, similar to another work with a bi-manual setting [1]}. The motions are similar to gripper grasping, except now each arm serves as a "finger" with a tool attached to each "fingertip". The arms sync and mirror each other as they move to pincer around \(p\) . The relative pose between the 2 grippers are fixed; learning to optimize this is left to future work. The similarity between grasping with gripper use and tool can be seen in fig:ee.
